Implementation of repetitive controller for rejection of position-based periodic disturbances

Wu Sung Yao, Mi-Ching Tsai, Yutaka Yamamoto

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


Time-varying periodic motions have appeared in many industrial processes, such as cam-follower systems, in that the control system has to operate at a periodic variable velocity specified in terms of the angular position-domain. This paper employs a repetitive control for rejecting the time-varying periodic disturbances, and presents an implementation technique based on angular position which can generate a fixed number of cycles in real-time. This control technique can accommodate the period variation in a time-varying periodic signal such that variable samples per period for synchronization can be achieved by the regular fixed-time sampling rate. A technique using position information to manipulate the delayed data and an interpolation scheme to properly access data in the buffer memory is proposed. An anti-vibration control system with time-varying periodic disturbances is studied to illustrate control performance. The experimental results are given to illustrate that time-varying repetitive control can effectively eliminate steady-state errors within a few cycles.

Original languageEnglish
Pages (from-to)1226-1237
Number of pages12
JournalControl Engineering Practice
Issue number9
Publication statusPublished - 2013 Sep 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics


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